171 lines
4.5 KiB
C++
171 lines
4.5 KiB
C++
#ifndef _FG_UGEAR_II_HXX
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#define _FG_UGEAR_II_HXX
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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#include <simgear/compiler.h>
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#include <iostream>
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#include <string>
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#include <vector>
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#include <simgear/misc/stdint.hxx>
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#include <simgear/io/iochannel.hxx>
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#include <simgear/serial/serial.hxx>
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SG_USING_STD(cout);
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SG_USING_STD(endl);
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SG_USING_STD(string);
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SG_USING_STD(vector);
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enum ugPacketType {
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GPS_PACKET = 0,
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IMU_PACKET = 1,
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NAV_PACKET = 2,
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SERVO_PACKET = 3,
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HEALTH_PACKET = 4
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};
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struct imu {
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double p,q,r; /* angular velocities */
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double ax,ay,az; /* acceleration */
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double hx,hy,hz; /* magnetic field */
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double Ps,Pt; /* static/pitot pressure */
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// double Tx,Ty,Tz; /* temperature */
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double phi,the,psi; /* attitudes */
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short err_type; /* error type */
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double time;
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};
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struct gps {
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double lat,lon,alt; /* gps position */
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double ve,vn,vd; /* gps velocity */
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uint16_t ITOW;
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short err_type; /* error type */
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double time;
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};
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struct nav {
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double lat,lon,alt;
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double ve,vn,vd;
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// float t;
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short err_type;
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double time;
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};
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struct servo {
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uint16_t chn[8];
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uint8_t status;
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double time;
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};
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struct health {
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float volts_raw; /* raw volt reading */
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float volts; /* filtered volts */
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uint16_t est_seconds; /* estimated useful seconds remaining */
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uint8_t loadavg; /* system "1 minute" load average */
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uint8_t ahrs_hz; /* actual ahrs loop hz */
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uint8_t nav_hz; /* actual nav loop hz */
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double time;
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};
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// Manage a saved ugear log (track file)
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class UGEARTrack {
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private:
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vector <gps> gps_data;
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vector <imu> imu_data;
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vector <nav> nav_data;
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vector <servo> servo_data;
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vector <health> health_data;
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// parse message and put current data into vector if message has a
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// newer time stamp than existing data.
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void parse_msg( const int id, char *buf,
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gps *gpspacket, imu *imupacket, nav *navpacket,
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servo *servopacket, health *healthpacket );
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public:
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UGEARTrack();
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~UGEARTrack();
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// read/parse the next message from the specified data stream,
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// returns id # if a valid message found.
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int next_message( SGIOChannel *ch, SGIOChannel *log,
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gps *gpspacket, imu *imupacket, nav *navpacket,
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servo *servopacket, health * healthpacket,
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bool ignore_checksum );
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int next_message( SGSerialPort *serial, SGIOChannel *log,
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gps *gpspacket, imu *imupacket, nav *navpacket,
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servo *servopacket, health *healthpacket,
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bool ignore_checksum );
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// load the named file into internal buffers
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bool load( const string &file, bool ignore_checksum );
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inline int gps_size() const { return gps_data.size(); }
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inline int imu_size() const { return imu_data.size(); }
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inline int nav_size() const { return nav_data.size(); }
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inline int servo_size() const { return servo_data.size(); }
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inline int health_size() const { return health_data.size(); }
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inline gps get_gpspt( const unsigned int i )
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{
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if ( i < gps_data.size() ) {
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return gps_data[i];
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} else {
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return gps();
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}
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}
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inline imu get_imupt( const unsigned int i )
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{
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if ( i < imu_data.size() ) {
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return imu_data[i];
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} else {
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return imu();
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}
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}
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inline nav get_navpt( const unsigned int i )
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{
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if ( i < nav_data.size() ) {
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return nav_data[i];
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} else {
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return nav();
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}
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}
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inline servo get_servopt( const unsigned int i )
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{
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if ( i < servo_data.size() ) {
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return servo_data[i];
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} else {
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return servo();
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}
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}
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inline health get_healthpt( const unsigned int i )
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{
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if ( i < health_data.size() ) {
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return health_data[i];
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} else {
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return health();
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}
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}
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};
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gps UGEARInterpGPS( const gps A, const gps B, const double percent );
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imu UGEARInterpIMU( const imu A, const imu B, const double percent );
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nav UGEARInterpNAV( const nav A, const nav B, const double percent );
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servo UGEARInterpSERVO( const servo A, const servo B, const double percent );
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health UGEARInterpHEALTH( const health A, const health B,
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const double percent );
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#endif // _FG_UGEAR_II_HXX
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